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Full-Text Articles in Robotics
Command Shaping With Constrained Peak Input Acceleration To Minimize Residual Vibration In A Flexible-Joint Robot, Yumeng Wu
Open Access Theses
Rapid point-to-point motion is limited when flexibilities exist in the system. In order to minimize the vibrations related to joint flexibilities, much work has been done, including modifying the system so that vibrations can be damped out more quickly, calculating the inverse dynamics of the system and constructing shaped input profiles that avoid system natural frequencies. In this work, the earlier fixed-time command shaping method has been extended to a peak-acceleration-constrained approach with two basis functions, the ramped sinusoid function and the versine function, such that the maximum acceleration is guaranteed without overconstraining the input profiles. The approach is developed …
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Open Access Theses
Joint flexibility is a physical trait that affects all robotic systems to some degree. This characteristic has been shown to be very detrimental to the performance of these robotic systems when implementing fast point-to-point motion. During such motion, the robot will induce vibrations in its structure that will extend past the completion of the move. Many techniques have been applied over the years in order to minimize these residual vibrations. One such method is known as command shaping, which will construct the input profile so as to avoid exciting the natural frequencies of the system. This work seeks to extend …